Development of novel self-oscillating gel actuator for achievement of chemical robot

Satoshi Nakamaru, Shingo Maeda, Yusuke Hara, Shuji Hashimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)

Abstract

In our previous studies, we succeeded in construction self-oscillating gel actuator such as a self-walking gel and a dynamic motion of a gel actuator. However, the speed of the swelling - deswelling self-oscillation is too slow in order to realize practical chemical robot. In this study, we succeeded in the wide-range control of the period for the swelling - deswelling self-oscillation of a novel polymer gel by selection of the initial concentration of the Belouzov-Zhabotinsky (BZ) substrates and the temperature. The novel polymer gel was composed of a non-thermoresponsive and biocompatible poly-vinylpyrrolidone (PVP) main chain covalently-bonded to the ruthenium catalyst for the BZ reaction. Moreover, we clarified the influence of the initial concentration of the BZ substrates and the temperature on the period and the self-oscillating behavior. By optimizing the initial concentration of the BZ substrates, we cause the swelling - deswelling self-oscillation in 0.5 Hz. The maximum frequency (0.5Hz) of the novel gel was 20 times higher than that of the conventional-type self-oscillating gel. Moreover, we showed that the displacement of the self-oscillation for the gel has a trade-off relationship against the frequency of the self-oscillation.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages4319-4324
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 11
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: 2009 Oct 112009 Oct 15

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period09/10/1109/10/15

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Nakamaru, S., Maeda, S., Hara, Y., & Hashimoto, S. (2009). Development of novel self-oscillating gel actuator for achievement of chemical robot. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 4319-4324). [5354649] (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354649